Python bindings for : Centroidal MPC, Centroidal Dynamics and Contacts

[CarlottaSartore]

Still working on the implementation of the tests

[GiulioRomualdi]

Hi @CarlottaSartore #645 got merged so you can rebase the PR on top of master :)

[CarlottaSartore]

Adding the bindings for the Centroidal dynamics creates issues, when I try to import blf in my framework I got the following error:

In [1]: import bipedal_locomotion_framework as blf
---------------------------------------------------------------------------
ImportError                               Traceback (most recent call last)
Cell In[1], line 1
----> 1 import bipedal_locomotion_framework as blf

File ~/iit_ws/prepare_pr/bipedal-locomotion-framework/build/bipedal_locomotion_framework/__init__.py:2
      1 from .bindings import *
----> 2 from . import utils

ImportError: cannot import name 'utils' from partially initialized module 'bipedal_locomotion_framework' (most likely due to a circular import) (/home/carlotta/iit_ws/prepare_pr/bipedal-locomotion-framework/build/bipedal_locomotion_framework/__init__.py)

Introduced with commit

commit eabd35fd7c26874efbce62b8aa52f847260e1772 (HEAD -> python_bindings/centroidal_mpc, CarlottaFork/python_bindings/centroidal_mpc)
Author: Carlotta <carlotta.sartore@iit.it>
Date:   Wed Jun 28 15:42:03 2023 +0200

    added centroidal dynamic bindings

Sincerely I am having a hard time understanding which is the issue, in the implementation prior to the rebase, everything was working fine

[GiulioRomualdi]

In which folder are you loading the bindings? If you do it in the build folder is not working

[CarlottaSartore]

Thanks @GiulioRomualdi !
I should have finalize all,this PR contains:

• Python Bindings for the Centroidal MPC
• Python Bindings for the Centroidal Dynamics
• Python Bindings for the Contacts;

I have also added the tests and all seems to pass.

(Side Note: Loading the bindings not in the build directory solved the issue)

[GiulioRomualdi]

Thank you @CarlottaSartore for the effort I will merge it as soon as the CI ends. Thank you for the effort this will be really useful for @LoreMoretti and @paolo-viceconte